US10184899B2 - Vehicle part inspection device - Google Patents

Vehicle part inspection device Download PDF

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Publication number
US10184899B2
US10184899B2 US15/383,066 US201615383066A US10184899B2 US 10184899 B2 US10184899 B2 US 10184899B2 US 201615383066 A US201615383066 A US 201615383066A US 10184899 B2 US10184899 B2 US 10184899B2
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United States
Prior art keywords
sensing
vehicle part
inspection device
unit
frame
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Expired - Fee Related, expires
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US15/383,066
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English (en)
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US20180059029A1 (en
Inventor
Jung Whan Yeum
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Hyundai Motor Co
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Hyundai Motor Co
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Publication of US20180059029A1 publication Critical patent/US20180059029A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • G01N2021/8809—Adjustment for highlighting flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
    • G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/061—Sources
    • G01N2201/06113—Coherent sources; lasers

Definitions

  • the present disclosure relates to a vehicle part inspection device, and more particularly, to a vehicle part inspection device for inspecting moving components such as a door assembly during an assembly process.
  • a vehicle manufacturer produces a vehicle by combining thousands of components in several assembly processes for mass production.
  • a door assembly includes an inner panel and an outer panel, and has a structure in which the inner panel and the outer panel are assembled by hemming.
  • the quality of front and rear door assemblies of the vehicle are important with respect to the appearance of the vehicle.
  • intervals, level differences, and external appearance waviness of the door assembly are important factors that may impact the external appearance quality of the vehicle.
  • the assembled parts of the door assembly are subjected to a visual inspection by using a vision inspection device in a state in which the door assembly is secured by a securing unit.
  • the aforementioned inspection device is difficult to be applied in common to door assemblies having different shapes and sizes in accordance with different types of vehicles, and as a result, the door assemblies are inspected by inspection devices dedicated for respective types of vehicles and items.
  • the inspection device is mounted on a multi-articulated robot, such as a 6-axis robot. Also, the inspection device is moved and rotated to an optimum inspection position by moving and rotating a robot arm, such that an external appearance quality of an inspection object such as the door assembly is inspected by the inspection device.
  • the inspection device is difficult to move and rotate at a high speed, and there may occur an interference with peripheral equipment when the robot is moved.
  • the present disclosure provides a vehicle part inspection device capable of being used in common to inspect the external appearance quality of inspection objects having different shapes and sizes in accordance with the types of vehicles.
  • the present disclosure also provides a vehicle part inspection device which may achieve, with a simple configuration, high-speed movement and rotation of an inspection device for inspecting an inspection object, and does not cause the occurrence of interference with peripheral equipment.
  • An exemplary embodiment of the present disclosure provides a vehicle part inspection device for inspecting an inspection object secured on a jig frame by a securing unit, the vehicle part inspection device including: i) a sensing unit which is pivotably installed on a mount frame, moves in multi-axis directions along the jig frame, and senses an inspection portion of the inspection object; and ii) angle changing units which are installed to be radially connected with the sensing unit, and change a sensing angle of the sensing unit by applying forward and rearward operating force to the sensing unit.
  • the sensing unit may be pivotably connected to a center point of the mount frame by a main spring.
  • the sensing unit may include three stem rods disposed radially.
  • the angle changing units may be connected with the respective stem rods by sub springs.
  • the angle changing units may apply the forward and rearward operating force to the respective stem rods while converting rotational motion of servo motors into rectilinear motion.
  • a vehicle part inspection device for inspecting an inspection object secured on a jig frame by a securing unit
  • the vehicle part inspection device including: i) a movable member which is installed on the jig frame so as to be movable in multi-axis directions; ii) a mount frame which is fixedly installed on the movable member; iii) a sensing unit which is pivotably installed on the mount frame, and senses an inspection portion of the inspection object; and iv) angle changing units which are radially connected to the sensing unit, elastically support the sensing unit, apply forward and rearward operating force to the sensing unit, and change a sensing angle of the sensing unit.
  • the mount frame may include: a main frame which is connected with the movable member, and supports the sensing unit; and sub frames which are radially connected with the main frame based on a center of the main frame, and support the angle changing units.
  • the sensing unit may include: a center rod which is pivotably connected to a center point of the mount frame by a main spring; three stem rods which are radially connected with the center rod with the center rod disposed at the center; and a sensing body which is installed to be connected to the center rod.
  • the sensing unit may include: a line laser emitting unit which is installed on the sensing body, and emits line laser to the inspection portion of the inspection object; and a vision camera which is installed on the sensing body, captures a vision image of the inspection portion of the inspection object, and outputs the vision data to a controller.
  • the angle changing units may be installed to be connected with the respective stem rods by sub springs.
  • the angle changing unit may include: a servo motor which is mounted on the mount frame; and a power transmission unit which is installed to be connected with the servo motor, connected with the stem rods by the sub springs, and converts rotational motion of the servo motor into rectilinear motion.
  • the movable member may be installed to be reciprocally movable in a front and rear direction of the jig frame by a first drive unit.
  • the movable member may be installed to be reciprocally movable in a left and right direction of the jig frame by a second drive unit.
  • the movable member may be installed to be reciprocally movable in an up and down direction of the jig frame by a third drive unit.
  • Yet another exemplary embodiment of the present disclosure provides a vehicle part inspection device for inspecting an inspection object secured on a jig frame by a securing unit, the vehicle part inspection device including: i) a movable member which is installed on the jig frame so as to be movable in multi-axis directions; ii) a mount frame which is fixedly installed on the movable member; iii) a main body which is installed at a center point of the mount frame so as to be pivotable by a main spring; iv) a sensing body which is fixedly installed on the main body, and senses an inspection portion of the inspection object; and v) angle changing units which are radially connected with the main body by sub springs, apply forward and rearward operating force to the sensing body, and change a sensing angle of the sensing body.
  • the main body may include: a center rod which is pivotably connected to a center point of the mount frame by the main spring; and a plurality of stem rods which is radially connected to the center rod, and connected with the angle changing units by the sub springs.
  • the stem rods may be disposed at an interval of 120 degrees in a circular circumferential direction of the center rod with the center rod disposed at the center.
  • a line laser emitting unit which emits line laser to the inspection portion of the inspection object
  • a vision camera which captures a vision image of the inspection portion of the inspection object and outputs the vision data to a controller, may be installed on the sensing body.
  • a lighting unit which emits illumination light to the inspection portion of the inspection object, may be installed on the sensing body.
  • the angle changing unit may include: a servo motor which is mounted on the mount frame; and a power transmission unit which is installed to be connected with the servo motor, connected with the stem rods by the sub springs, and converts rotational motion of the servo motor into rectilinear motion.
  • a fixing bracket which fixes one end of the sub spring, may be installed on the stem rod.
  • the power transmission unit may include: a lead screw which is connected to a driving shaft of the servo motor; and a moving bracket which is fixed to the other end of the sub spring, screw-coupled to the lead screw, and rectilinearly moved by the rotation of the lead screw.
  • the main body when the moving bracket is rectilinearly moved to the servo motor by the rotation of the lead screw, the main body may change a sensing angle of the sensing body by rotating in the movement direction of the moving bracket.
  • the sensing angle of the sensing unit may be changed to a desired direction by the angle changing units, it is possible to inspect in common the external appearance quality of the inspection objects having shapes and sizes different depending on the types of vehicles.
  • the movable member may be moved in multi-axis directions at a high speed and the sensing angle of the sensing unit may be changed at a high speed by the angle changing units, and as a result, it is possible to further improve efficiency in respect to inspection of the vehicle parts, and to prevent interference with peripheral equipment unlike the related art using a robot.
  • FIG. 1 is a perspective view illustrating an example in which a vehicle part inspection device according to an exemplary embodiment of the present disclosure is applied.
  • FIGS. 2 and 3 are perspective views illustrating the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • FIG. 4 is a front configuration diagram illustrating a sensing unit and angle changing units that are applied to the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • FIG. 5 is a top plan configuration diagram illustrating the sensing unit and the angle changing units that are applied to the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • FIG. 6 is a cross-sectional configuration diagram illustrating the angle changing units applied to the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • FIGS. 7 to 9 are views for explaining an operation of the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • vehicle or “vehicular” or other similar term as used herein is inclusive of motor vehicles in general such as passenger automobiles including sports utility vehicles (SUV), buses, trucks, various commercial vehicles, watercraft including a variety of boats and ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles and other alternative fuel vehicles (e.g. fuels derived from resources other than petroleum).
  • a hybrid vehicle is a vehicle that has two or more sources of power, for example both gasoline-powered and electric-powered vehicles.
  • control logic of the present disclosure may be embodied as non-transitory computer readable media on a computer readable medium containing executable program instructions executed by a processor, controller or the like.
  • Examples of computer readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes, floppy disks, flash drives, smart cards and optical data storage devices.
  • the computer readable medium can also be distributed in network coupled computer systems so that the computer readable media is stored and executed in a distributed fashion, e.g., by a telematics server or a Controller Area Network (CAN).
  • a telematics server or a Controller Area Network (CAN).
  • CAN Controller Area Network
  • FIG. 1 is a perspective view illustrating an example in which a vehicle part inspection device according to an exemplary embodiment of the present disclosure is applied.
  • a vehicle part inspection device 100 may be applied to an inspection process of inspecting the external appearance quality of various types of vehicle parts during a design process among processes of assembling vehicles.
  • the vehicle part inspection device 100 may be applied to a moving part inspection process of inspecting an external appearance quality of an inspection object 1 such as a door assembly as a vehicle part.
  • the exemplary embodiment of the present disclosure may be applied to a door inspection process of inspecting assembled portions (inspection portions) of the door assembly prior to loading the door assembly to a door mounting process.
  • the scope of the present disclosure should not be construed as being necessarily limited to the process of inspecting the external appearance quality of the moving part for a vehicle such as the door assembly, and the technical spirit of the present disclosure may be applied as long as the vehicle part inspection device inspects vehicle parts which are mounted in the vehicle body and used for various types of purposes.
  • the vehicle part inspection device 100 has a structure capable of inspecting in common the external appearance quality of the inspection objects 1 having different shapes and sizes in accordance with the types of vehicles.
  • the exemplary embodiment of the present disclosure provides the vehicle part inspection device 100 which may achieve, with a simple configuration, high-speed movement and rotation of the vehicle part inspection device 100 for inspecting the inspection object 1 , and does not cause the occurrence of interference with peripheral equipment.
  • the vehicle part inspection device 100 is configured to inspect the external appearance quality of the inspection object 1 secured on a jig frame 3 by a securing unit 5 , and the vehicle part inspection device 100 may inspect an assembled portion of the inspection object 1 by moving the inspection object 1 in multi-axis directions on the jig frame 3 .
  • reference directions are not set to LTH directions (a width direction of the vehicle body, a longitudinal direction of the vehicle body, and a height direction of the vehicle body) which are widely known in the art, but set to a front and rear direction, a left and right direction, and an up and down direction based on the jig frame 3 .
  • the jig frame 3 is a frame on which various types of constituent elements to be described below are mounted, and the jig frame 3 includes accessory elements such as a bracket, a plate, a housing, a case, a block, and a collar which are used for supporting the constituent elements.
  • the accessory elements are used to install the respective constituent elements on the jig frame 3 , and in the exemplary embodiment of the present disclosure, the accessory elements are commonly called the jig frame 3 as provided herein.
  • the jig frame 3 includes a base frame 4 a which is a quadrangular frame, a plurality of vertical frames 4 b which is disposed in the up and down direction at corner portions and edge portions at both left and right sides of the base frame 4 a , and a plurality of horizontal frames 4 c which is connected to upper ends of the vertical frames 4 b.
  • the horizontal frames 4 c connect the vertical frames 4 b at both left and right sides at a front side of the base frame 4 a , and connect the vertical frames 4 b at both front and rear sides at both left and right sides of the base frame 4 a . That is, a portion between the vertical frames 4 b at both left and right sides at a rear side of the base frame 4 a is opened in a state in which the vertical frames 4 b are not connected by the horizontal frame 4 c . The reason is to easily load the inspection object 1 to the securing unit 5 on the base frame 4 a.
  • the securing unit 5 is installed on an upper surface of the base frame 4 a , and serves to align the inspection object 1 at a preset position and fix the inspection object 1 .
  • the securing unit 5 includes various types of support means which support the inspection object 1 by moving in the multi-axis directions while corresponding to the inspection objects 1 different depending on the types of vehicles, and various types of clamping means which clamp the inspection object 1 by moving in the multi-axis directions.
  • the securing unit 5 is configured as a securing device having publicly known support means and clamping means which may align a predetermined component at a position and fix the position of the predetermined component, a further detailed description of the configuration of the securing unit 5 will be omitted in the present specification.
  • FIGS. 2 and 3 are perspective views illustrating the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • the vehicle part inspection device 100 basically includes a movable member 10 , a mount frame 20 , a sensing unit 30 , and angle changing units 60 .
  • the movable member 10 is installed on the jig frame 3 so as to be reciprocally movable in the multi-axis directions (the front and rear, left and right, and up and down directions).
  • the mount frame 20 , the sensing unit 30 , and the angle changing units 60 which will be described below, are mounted on the movable member 10 .
  • the movable member 10 is installed on the horizontal frame 4 c of the jig frame 3 so as to be reciprocally movable in the front and rear, left and right, and up and down directions by first to third drive units 11 a , 11 b , and 11 c.
  • the first drive unit 11 a includes a first movable body 17 a which is reciprocally moved in the front and rear direction along the horizontal frames 4 c by a first guide structure 15 a which converts rotational force of a first motor 13 a into rectilinear motion.
  • the second drive unit 11 b includes a second movable body 17 b which is reciprocally moved in the left and right direction along the first movable body 17 a by a second guide structure 15 b which converts rotational force of a second motor 13 b to rectilinear motion.
  • the third drive unit 11 c includes a third movable body 17 c which is reciprocally moved in the up and down direction on the second movable body 17 b by a third guide structure 15 c which converts rotational force of the third motor 13 c into rectilinear motion.
  • the movable member 10 according to the exemplary embodiment of the present disclosure is installed on the third movable body 17 c.
  • the guide structures 15 a , 15 b , and 15 c have lead (or ball) screws, guide rails, and the like of the publicly known technology which convert the rotational force of the motors 13 a , 13 b , and 13 c into rectilinear motion.
  • the mount frame 20 serves to install the sensing unit 30 and the angle changing units 60 which will be described below, and the mount frame 20 includes various types of accessory elements such as a bracket, a plate, a rib, and a block for supporting the constituent elements.
  • the mount frame 20 is fixedly installed on the movable member 10 .
  • the mount frame 20 includes a main frame 21 and sub frames 23 .
  • the main frame 21 is connected directly with the movable member 10 , and supports the sensing unit 30 to be described below.
  • the main frame 21 is formed in a triangular frame shape.
  • sub frames 23 are radially connected to the main frame 21 with the main frame 21 disposed at a center, and support the angle changing units 60 to be described below.
  • the sub frames 23 are integrally connected to respective sides of the main frame 21 .
  • the sensing unit 30 is moved in the front and rear, left and right, and up and down directions of the jig frame 3 by the movable member 10 , and inspects the inspection portion (assembled portion) of the inspection object 1 secured by the securing unit 5 . That is, the sensing unit 30 serves to obtain data information associated with the inspection portion of the inspection object 1 .
  • FIG. 4 is a front configuration diagram illustrating the sensing unit applied to the vehicle part inspection device according to the exemplary embodiment of the present disclosure
  • FIG. 5 is a top plan configuration diagram illustrating the sensing unit applied to the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • the sensing unit 30 is pivotably installed on the mount frame 20 .
  • the sensing unit 30 is pivotably connected to a center point of the mount frame 20 by a main spring 39 .
  • the sensing unit 30 includes a main body 31 and a sensing body 33 .
  • the main body 31 is pivotably installed at the center point of the main frame 21 of the mount frame 20 by the main spring 39 .
  • the main body 31 includes a center rod 35 and stem rods 37 .
  • the center rod 35 is pivotably connected to the center point of the main frame 21 by the main spring 39 .
  • the center rod 35 is disposed in the up and down direction based on the drawings, and an upper end of the center rod 35 is connected to the center point of the main frame 21 by the main spring 39 .
  • the main spring 39 has a preset elastic force, and preferably is provided as a pivotable coil spring, and one end (an upper end in the drawing) of the main spring 39 is connected to the center point of the main frame 21 by a fixing plate, and the other end (a lower end in the drawing) of the main spring 39 is fixed to the upper end of the center rod 35 .
  • a plurality of stem rods 37 is provided and radially connected to the center rod 35 .
  • Three stem rods 37 are radially connected to the center rod 35 with the center rod 35 disposed at the center.
  • the stem rods 37 are disposed at an interval of 120 degrees along a circular circumferential direction of the center rod 35 with the center rod 35 disposed at the center.
  • the sensing body 33 serves to substantially sense the inspection portion (assembled portion) of the inspection object 1 , and is fixedly installed on the main body 31 .
  • the sensing body 33 is fixedly installed at a lower end of the center rod 35 of the main body 31 .
  • the sensing body 33 has a line laser emitting unit 41 and a vision camera 43 .
  • the line laser emitting unit 41 is used to measure a width, a height, and the like of the inspection portion.
  • the line laser emitting unit 41 emits line laser, which is oscillated by a laser oscillator (non-illustrated in the drawings), to the inspection portion of the inspection object 1 .
  • the vision camera 43 captures a vision image of the inspection portion of the inspection object 1 , and outputs the vision data to a controller (not illustrated in the drawings).
  • the vision camera 43 captures a vision image of the inspection portion of the inspection object 1 and a vision image of a profile of the line laser which is emitted to the inspection portion from the line laser emitting unit 41 , and outputs the vision data to the controller.
  • the controller may calculate the width and the height of the inspection portion based on the vision data associated with a surface of the inspection portion and the line laser which is provided from the vision camera 43 , analyze and compare the calculated values with preset reference values, and detect whether the inspection portion has a defect.
  • the controller may detect a short-circuit, deflection, depression, a height defect, and the like of the inspection portion based on the vision data associated with the surface of the inspection portion and the line laser which is provided from the vision camera 43 .
  • a lighting unit 45 which emits illumination light to the inspection portion of the inspection object 1 , is installed on the sensing body 33 .
  • the lighting unit 45 provides a sufficient light amount to the inspection portion.
  • the angle changing units 60 elastically support the sensing unit 30 , apply forward and rearward operating force to the sensing unit 30 , and change a sensing angle of the sensing unit 30 with respect to the inspection portion of the inspection object 1 . That is, the angle changing units 60 may change the sensing angle of the sensing body 33 by applying forward and rearward operating force to the main body 31 .
  • the angle changing units 60 are installed to be radially connected with the sensing unit 30 , and radially connected with the main body 31 by sub springs 61 .
  • the angle changing units 60 are connected with the respective stem rods 37 of the main body 31 by the sub springs 61 .
  • the angle changing units 60 convert rotational motion of the motors into rectilinear motion, and may apply the forward and rearward operating force to the respective stem rods 37 of the main body 31 .
  • each of the angle changing units 60 includes a servo motor 63 and a power transmission unit 71 .
  • the servo motor 63 is a motor which easily controls a rotational speed and a rotation angle thereof, and three servo motors 63 are provided to correspond to the respective stem rods 37 of the main body 31 , and fixedly installed on the sub frames 23 of the mount frame 20 .
  • the power transmission unit 71 converts the rotational motion of the servo motor 63 into rectilinear motion, and applies the forward and rearward operating force to the respective stem rods 37 of the main body 31 .
  • the power transmission unit 71 is installed to be connected with the servo motor 63 , and connected with the respective stem rods 37 by the sub springs 61 .
  • the sub spring 61 is provided as a compressive coil spring having preset elastic force, and elastically connects the power transmission unit 71 and the stem rod 37 .
  • One end of the sub spring 61 is fixed to an end portion of the stem rod 37 , and a fixing bracket 65 , which fixes one end of the sub spring 61 , is installed at an end portion of the stem rod 37 .
  • One end of the sub spring 61 is integrally connected with the fixing bracket 65 by welding.
  • the power transmission unit 71 includes a lead screw 73 and a moving bracket 75 .
  • the lead screw 73 is connected with a driving shaft 64 of the servo motor 63 .
  • the moving bracket 75 is rectilinearly moved by the rotation of the lead screw 73 , and the moving bracket 75 is fixed to the other end of the sub spring 61 and screw-coupled to the lead screw 73 .
  • the other end of the sub spring 61 is integrally connected with the moving bracket 75 by welding.
  • Screw threads which are screw-coupled to the lead screw 73 , are formed on an inner circumferential surface of the moving bracket 75 .
  • the moving bracket 75 is rectilinearly moved in a longitudinal direction of the lead screw 73 as the lead screw 73 is rotated by the servo motor 63 .
  • FIGS. 7 to 9 are views for explaining an operation of the vehicle part inspection device according to the exemplary embodiment of the present disclosure.
  • the inspection object 1 such as the door assembly is loaded to the securing unit 5 on the jig frame 3 . Then, the securing unit 5 accurately positions the inspection object 1 at a preset position by the support means, and fixes the inspection object 1 by the clamping means.
  • the movable member 10 is moved in the front and rear, left and right, and up and down directions by the first to third drive units 11 a , 11 b , and 11 c , and the sensing body 33 of the sensing unit 30 is positioned corresponding to the inspection portion of the inspection object 1 .
  • the movable member 10 is moved in the front and rear, left and right, and up and down directions by the first to third drive units 11 a , 11 b , and 11 c , and the inspection portion (assembled portion) of the inspection object 1 is inspected by the line laser emitting unit 41 and the vision camera 43 of the sensing body 33 .
  • the servo motor 63 of the angle changing unit 60 is rotated in one direction.
  • the lead screw 73 is rotated in one direction by the driving shaft 64 of the servo motor 63 , and the moving bracket 75 screw-coupled to the lead screw 73 is moved toward the servo motor 63 according to the exemplary embodiment of the present disclosure.
  • the moving bracket 75 pulls the main body 31 of the sensing unit 30 which is connected with the moving bracket 75 by the sub spring 61 . That is, the moving bracket 75 pulls the stem rod 37 of the main body 31 through the sub spring 61 .
  • the main body 31 is rotated in the movement direction of the moving bracket 75 through the main spring 39 connected with the center rod 35 in a state in which the main body 31 is elastically supported by the sub springs 61 that connects the remaining stem rods 37 and the remaining moving brackets 75 .
  • the sensing body 33 fixed to the center rod 35 of the main body 31 is rotated in one direction about the center point of the main frame 21 , and as a result, the sensing angle of the sensing body 33 may be changed.
  • the moving bracket 75 is moved to the original position, and the main body 31 of the sensing unit 30 may be moved to the original position.
  • the sensing angle of the sensing body 33 may be changed in a desired direction by selectively operating the servo motors 63 of the angle changing units 60 .
  • the sensing angle of the sensing body 33 may be freely changed in accordance with the number of rotations of the motors.
  • the line laser emitting unit 41 of the sensing body 33 emits the line laser to the inspection portion of the inspection object 1 .
  • the lighting unit 45 of the sensing body 33 emits illumination light to the inspection portion
  • the vision camera 43 captures a vision image of the surface of the inspection portion and a vision image of the line laser emitted to the inspection portion from the line laser emitting unit 41 , and then outputs the vision data to the controller.
  • the controller calculates the width and the height of the inspection portion based on the vision data associated with a surface of the inspection portion and the line laser which is provided from the vision camera 43 , analyzes and compares the calculated values with preset reference values, and detects whether the inspection portion has a defect.
  • the sensing angle of the sensing unit 30 may be changed to a desired direction by the angle changing units 60 , it is possible to inspect in common the external appearance quality of the inspection objects 1 having shapes and sizes different depending on the types of vehicles.
  • the movable member 10 may be moved in the multi-axis directions at a high speed and the sensing angle of the sensing unit 30 may be changed at a high speed by the angle changing units 60 , and as a result, it is possible to further improve efficiency in respect of inspection of the vehicle parts, and to prevent interference with peripheral equipment unlike the related art using a robot.

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  • Length Measuring Devices By Optical Means (AREA)
US15/383,066 2016-09-01 2016-12-19 Vehicle part inspection device Expired - Fee Related US10184899B2 (en)

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KR1020160112724A KR101807145B1 (ko) 2016-09-01 2016-09-01 차체 부품 검사장치

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DE102016205519A1 (de) * 2016-04-04 2017-10-05 Bayerische Motoren Werke Aktiengesellschaft Mobiles Messsystem zum dreidimensionalen optischen Vermessen von Fahrzeugen und Fahrzeugteilen
KR102087609B1 (ko) * 2018-07-10 2020-03-11 주식회사 성우하이텍 비전유닛
MX2021000134A (es) 2018-07-10 2021-03-25 Marposs Spa Aparato y metodo para revision sin contacto de dimensiones y/o forma de un cuerpo de forma compleja.
JP6661804B2 (ja) * 2018-07-10 2020-03-11 株式会社星宇ハイテックＳｕｎｇｗｏｏ Ｈｉｔｅｃｈ Ｃｏ．， Ｌｔｄ． 部品組立用ロボットシステムおよび制御方法
US11465282B2 (en) * 2018-08-27 2022-10-11 Teradyne, Inc. System and method for multi-goal path planning
CN111022872A (zh) * 2019-12-12 2020-04-17 中国第一汽车股份有限公司 一种作动器固定装置
CN112304901B (zh) * 2020-10-23 2023-04-07 西安管畅环保科技有限公司 一种车载顶置式快速激光燃气检测仪

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